def load_video_odometry(drive, raw=False, **kwargs):
drive_dir = get_drive_dir(drive, **kwargs)
oxts_dir = os.path.join(drive_dir, 'oxts')
data_dir = os.path.join(drive_dir, 'oxts', 'data')
inds = get_inds(data_dir, ext='.txt')
odometry = get_video_odometry(oxts_dir, inds)
return odometry if raw else odometry_to_positions(odometry)
def load_video_odometry(drive, raw=False, **kwargs):
drive_dir = get_drive_dir(drive, **kwargs)
oxts_dir = os.path.join(drive_dir, 'oxts')
data_dir = os.path.join(drive_dir, 'oxts', 'data')
inds = get_inds(data_dir, ext='.txt')
odometry = get_video_odometry(oxts_dir, inds)
return odometry if raw else odometry_to_positions(odometry)
def get_video_dir(drive, color=False, right=False, **kwargs):
drive_dir = get_drive_dir(drive, **kwargs)
image_dir = 'image_%02d' % (0 + (1 if right else 0) + (2 if color else 0))
return os.path.join(drive_dir, image_dir, 'data')
def get_disp_dir(drive, color=False, **kwargs):
drive_dir = get_drive_dir(drive, **kwargs)
return os.path.join(drive_dir, 'disp_' + ('23' if color else '01'), 'data')
def get_video_dir(drive, color=False, right=False, **kwargs):
drive_dir = get_drive_dir(drive, **kwargs)
image_dir = 'image_%02d' % (0 + (1 if right else 0) + (2 if color else 0))
return os.path.join(drive_dir, image_dir, 'data')
def get_disp_dir(drive, color=False, **kwargs):
drive_dir = get_drive_dir(drive, **kwargs)
return os.path.join(drive_dir, 'disp_' + ('23' if color else '01'), 'data')
def get_ground_truth_dir(drive):
result = os.path.join(get_drive_dir(drive), 'ground_truth', 'data')
if not os.path.exists(result):
os.makedirs(result)
return result
def get_ground_truth_dir(drive):
result = os.path.join(get_drive_dir(drive), 'ground_truth', 'data')
if not os.path.exists(result):
os.makedirs(result)
return result
def get_velodyne_dir(drive, **kwargs):
drive_dir = get_drive_dir(drive, **kwargs)
return os.path.join(drive_dir, 'velodyne_points', 'data')
